DDPCClosedFormSolutionMatrices

DDPCClosedFormSolutionMatrices#

class do_ddpc.ddpc.ddpc_structs.DDPCClosedFormSolutionMatrices(K_z_p, K_y_r, K_u_r)[source]#

Bases: object

Data class for storing closed-form gains.

K_z_p#

Gain matrix for past measurements of shape (n_u_f, n_z_p).

Type:

np.ndarray

K_y_r#

Gain matrix for output reference trajectory of shape (n_u_f, n_y_f).

Type:

np.ndarray

K_u_r#

Gain matrix for input reference trajectory of shape (n_u_f, n_u_f).

Type:

np.ndarray

Methods#

Attributes#

K_z_p#

DDPCClosedFormSolutionMatrices.K_z_p: ndarray#

K_y_r#

DDPCClosedFormSolutionMatrices.K_y_r: ndarray#

K_u_r#

DDPCClosedFormSolutionMatrices.K_u_r: ndarray#
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